Update doxygen docs

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diff --git a/docs/Interval_8h_source.html b/docs/Interval_8h_source.html
diff --git a/docs/MTLFormula_8h_source.html b/docs/MTLFormula_8h_source.html
diff --git a/docs/MTLFormula_8hpp_source.html b/docs/MTLFormula_8hpp_source.html
diff --git a/docs/XmlWriter_8h_source.html b/docs/XmlWriter_8h_source.html
@@ -3,7 +3,7 @@
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-<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="generator" content="Doxygen 1.9.7"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
 <title>tacos: src/utilities/include/io/XmlWriter.h Source File</title>
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@@ -30,7 +30,7 @@
 </table>
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-<!-- Generated by Doxygen 1.9.5 -->
+<!-- Generated by Doxygen 1.9.7 -->
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 var searchBox = new SearchBox("searchBox", "search/",'.html');
@@ -299,7 +299,7 @@
 </div><!-- fragment --></div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7
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diff --git a/docs/adapter_8h_source.html b/docs/adapter_8h_source.html
@@ -3,7 +3,7 @@
 <head>
 <meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.9.7"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
 <title>tacos: src/search/include/search/adapter.h Source File</title>
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@@ -30,7 +30,7 @@
 </table>
 </div>
 <!-- end header part -->
-<!-- Generated by Doxygen 1.9.5 -->
+<!-- Generated by Doxygen 1.9.7 -->
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 var searchBox = new SearchBox("searchBox", "search/",'.html');
@@ -121,18 +121,18 @@
 <div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>};</div>
 <div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
 <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>} <span class="comment">// namespace tacos::search</span></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html">tacos::automata::ata::AlternatingTimedAutomaton</a></div><div class="ttdoc">An alternating timed automaton.</div><div class="ttdef"><b>Definition:</b> ata.h:160</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html">tacos::logic::MTLFormula</a></div><div class="ttdoc">Class representing an MTL-formula with the usual operators.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:140</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_html"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words.html">tacos::search::get_next_canonical_words</a></div><div class="ttdoc">Generic functor to get the next canonical word.</div><div class="ttdef"><b>Definition:</b> adapter.h:28</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_html_a121bd028bc553d328f7d4707971d65b7"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words.html#a121bd028bc553d328f7d4707971d65b7">tacos::search::get_next_canonical_words::get_next_canonical_words</a></div><div class="ttdeci">get_next_canonical_words(const std::set&lt; ActionType &gt; &amp;controller_actions={}, const std::set&lt; ActionType &gt; &amp;environment_actions={})</div><div class="ttdef"><b>Definition:</b> adapter.h:34</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_html_a31f11cc0e00782bbf049e8c7db3ac285"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words.html#a31f11cc0e00782bbf049e8c7db3ac285">tacos::search::get_next_canonical_words::operator()</a></div><div class="ttdeci">std::multimap&lt; ActionType, CanonicalABWord&lt; typename Plant::Location, ConstraintSymbolType &gt; &gt; operator()(const Plant &amp;, const automata::ata::AlternatingTimedAutomaton&lt; logic::MTLFormula&lt; ConstraintSymbolType &gt;, logic::AtomicProposition&lt; ConstraintSymbolType &gt; &gt; &amp;, const std::pair&lt; typename Plant::Configuration, ATAConfiguration&lt; ConstraintSymbolType &gt; &gt; &amp;, const RegionIndex, const RegionIndex)</div><div class="ttdef"><b>Definition:</b> adapter.h:40</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition:</b> golog_adapter.cpp:14</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a308143750fcb4a93cb927bcb8b1fda94"><div class="ttname"><a href="namespacetacos_1_1search.html#a308143750fcb4a93cb927bcb8b1fda94">tacos::search::ATAConfiguration</a></div><div class="ttdeci">automata::ata::Configuration&lt; logic::MTLFormula&lt; ConstraintSymbolType &gt; &gt; ATAConfiguration</div><div class="ttdef"><b>Definition:</b> canonical_word.h:25</div></div>
-<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html">tacos::logic::AtomicProposition</a></div><div class="ttdoc">Strong typing of atomic propositions, allows simplified construction from Boolean values as well.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:60</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html">tacos::automata::ata::AlternatingTimedAutomaton</a></div><div class="ttdoc">An alternating timed automaton.</div><div class="ttdef"><b>Definition</b> ata.h:160</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html">tacos::logic::MTLFormula</a></div><div class="ttdoc">Class representing an MTL-formula with the usual operators.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:140</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_html"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words.html">tacos::search::get_next_canonical_words</a></div><div class="ttdoc">Generic functor to get the next canonical word.</div><div class="ttdef"><b>Definition</b> adapter.h:28</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_html_a121bd028bc553d328f7d4707971d65b7"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words.html#a121bd028bc553d328f7d4707971d65b7">tacos::search::get_next_canonical_words::get_next_canonical_words</a></div><div class="ttdeci">get_next_canonical_words(const std::set&lt; ActionType &gt; &amp;controller_actions={}, const std::set&lt; ActionType &gt; &amp;environment_actions={})</div><div class="ttdef"><b>Definition</b> adapter.h:34</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_html_a31f11cc0e00782bbf049e8c7db3ac285"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words.html#a31f11cc0e00782bbf049e8c7db3ac285">tacos::search::get_next_canonical_words::operator()</a></div><div class="ttdeci">std::multimap&lt; ActionType, CanonicalABWord&lt; typename Plant::Location, ConstraintSymbolType &gt; &gt; operator()(const Plant &amp;, const automata::ata::AlternatingTimedAutomaton&lt; logic::MTLFormula&lt; ConstraintSymbolType &gt;, logic::AtomicProposition&lt; ConstraintSymbolType &gt; &gt; &amp;, const std::pair&lt; typename Plant::Configuration, ATAConfiguration&lt; ConstraintSymbolType &gt; &gt; &amp;, const RegionIndex, const RegionIndex)</div><div class="ttdef"><b>Definition</b> adapter.h:40</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition</b> golog_adapter.cpp:14</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a308143750fcb4a93cb927bcb8b1fda94"><div class="ttname"><a href="namespacetacos_1_1search.html#a308143750fcb4a93cb927bcb8b1fda94">tacos::search::ATAConfiguration</a></div><div class="ttdeci">automata::ata::Configuration&lt; logic::MTLFormula&lt; ConstraintSymbolType &gt; &gt; ATAConfiguration</div><div class="ttdef"><b>Definition</b> canonical_word.h:25</div></div>
+<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html">tacos::logic::AtomicProposition</a></div><div class="ttdoc">Strong typing of atomic propositions, allows simplified construction from Boolean values as well.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:60</div></div>
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7
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diff --git a/docs/annotated.html b/docs/annotated.html
@@ -3,7 +3,7 @@
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 <title>tacos: Class List</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
@@ -30,7 +30,7 @@
 </table>
 </div>
 <!-- end header part -->
-<!-- Generated by Doxygen 1.9.5 -->
+<!-- Generated by Doxygen 1.9.7 -->
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 var searchBox = new SearchBox("searchBox", "search/",'.html');
@@ -177,7 +177,7 @@
 </div><!-- contents -->
 <!-- start footer part -->
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7
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diff --git a/docs/app_2include_2app_2app_8h_source.html b/docs/app_2include_2app_2app_8h_source.html
@@ -3,7 +3,7 @@
 <head>
 <meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
 <meta http-equiv="X-UA-Compatible" content="IE=11"/>
-<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="generator" content="Doxygen 1.9.7"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
 <title>tacos: src/app/include/app/app.h Source File</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
@@ -30,7 +30,7 @@
 </table>
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-<!-- Generated by Doxygen 1.9.5 -->
+<!-- Generated by Doxygen 1.9.7 -->
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 var searchBox = new SearchBox("searchBox", "search/",'.html');
@@ -118,14 +118,14 @@
 <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span><span class="keywordtype">void</span> <a class="code hl_function" href="namespacetacos_1_1app.html#a6932450ee4acb140f70387abced3fc12">read_proto_from_file</a>(<span class="keyword">const</span> std::filesystem::path &amp;path, google::protobuf::Message *output);</div>
 <div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
 <div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>} <span class="comment">// namespace tacos::app</span></div>
-<div class="ttc" id="aclasstacos_1_1app_1_1Launcher_html"><div class="ttname"><a href="classtacos_1_1app_1_1Launcher.html">tacos::app::Launcher</a></div><div class="ttdoc">Launcher for the main application.</div><div class="ttdef"><b>Definition:</b> app.h:21</div></div>
-<div class="ttc" id="aclasstacos_1_1app_1_1Launcher_html_a59f9907e930f1573b10285d4706753f3"><div class="ttname"><a href="classtacos_1_1app_1_1Launcher.html#a59f9907e930f1573b10285d4706753f3">tacos::app::Launcher::run</a></div><div class="ttdeci">void run()</div><div class="ttdef"><b>Definition:</b> app.cpp:163</div></div>
-<div class="ttc" id="anamespacetacos_1_1app_html"><div class="ttname"><a href="namespacetacos_1_1app.html">tacos::app</a></div><div class="ttdoc">The main application.</div><div class="ttdef"><b>Definition:</b> app.cpp:49</div></div>
-<div class="ttc" id="anamespacetacos_1_1app_html_a6932450ee4acb140f70387abced3fc12"><div class="ttname"><a href="namespacetacos_1_1app.html#a6932450ee4acb140f70387abced3fc12">tacos::app::read_proto_from_file</a></div><div class="ttdeci">void read_proto_from_file(const std::filesystem::path &amp;path, google::protobuf::Message *output)</div><div class="ttdoc">Read a protobuf message from a file.</div><div class="ttdef"><b>Definition:</b> app.cpp:148</div></div>
+<div class="ttc" id="aclasstacos_1_1app_1_1Launcher_html"><div class="ttname"><a href="classtacos_1_1app_1_1Launcher.html">tacos::app::Launcher</a></div><div class="ttdoc">Launcher for the main application.</div><div class="ttdef"><b>Definition</b> app.h:21</div></div>
+<div class="ttc" id="aclasstacos_1_1app_1_1Launcher_html_a59f9907e930f1573b10285d4706753f3"><div class="ttname"><a href="classtacos_1_1app_1_1Launcher.html#a59f9907e930f1573b10285d4706753f3">tacos::app::Launcher::run</a></div><div class="ttdeci">void run()</div><div class="ttdef"><b>Definition</b> app.cpp:163</div></div>
+<div class="ttc" id="anamespacetacos_1_1app_html"><div class="ttname"><a href="namespacetacos_1_1app.html">tacos::app</a></div><div class="ttdoc">The main application.</div><div class="ttdef"><b>Definition</b> app.cpp:49</div></div>
+<div class="ttc" id="anamespacetacos_1_1app_html_a6932450ee4acb140f70387abced3fc12"><div class="ttname"><a href="namespacetacos_1_1app.html#a6932450ee4acb140f70387abced3fc12">tacos::app::read_proto_from_file</a></div><div class="ttdeci">void read_proto_from_file(const std::filesystem::path &amp;path, google::protobuf::Message *output)</div><div class="ttdoc">Read a protobuf message from a file.</div><div class="ttdef"><b>Definition</b> app.cpp:148</div></div>
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
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